Longitudinal vehicle dynamics control for improved vehicle safety

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dc.contributor.author Hamersma, Herman Adendorff
dc.contributor.author Els, P.S. (Pieter Schalk)
dc.date.accessioned 2014-07-15T13:17:22Z
dc.date.available 2014-07-15T13:17:22Z
dc.date.issued 2014-08
dc.description.abstract The aim is to investigate the improvements in vehicle safety that can be achieved by limiting the vehicle speed based on GPS path information. The control strategy is aimed at reducing vehicle speed before a potentially dangerous situation is reached, in contrast with widely used stability control systems that only react once loss of control by the driver is imminent. An MSC.ADAMS/View simulation model of an off-road test vehicle was developed and validated experimentally. A longitudinal speed control system was developed by generating a reference speed based on the path information. This reference speed was formulated by taking into account the vehicle’s limits due to lateral acceleration, combined lateral and longitudinal acceleration and the vehicle’s performance capabilities. The model was used to evaluate the performance of the control system on various tracks. The control system was implemented on the test vehicle and the performance was evaluated by conducting field tests. Results of the field tests indicated that the control system limited the acceleration vector of the vehicle’s centre of gravity to prescribed limits, as predicted by the simulations, thereby decreasing the possibility of accidents caused by rollover or loss of directional control due to entering curves at inappropriately high speeds. en_US
dc.description.librarian hb2014 en_US
dc.description.uri http://www.elsevier.com/locate/jterra en_US
dc.identifier.citation Hamersma, HA & Els, PS 2014, 'Longitudinal vehicle dynamics control for improved vehicle safety', Journal of Terramechanics, vol. 54, pp. 9-36. en_US
dc.identifier.issn 0022-4898 (print)
dc.identifier.issn 1879-1204 (online)
dc.identifier.other 10.1016/j.jterra.2014.04.002
dc.identifier.uri http://hdl.handle.net/2263/40795
dc.language.iso en en_US
dc.publisher Elsevier en_US
dc.rights © 2014 The International Society for Terrain Vehicle Systems. Published by Elsevier Ltd. All rights reserved. Notice : this is the author’s version of a work that was accepted for publication in Journal of Terramechanics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Journal of Terramechanics, vol. 54, pp. 19-36, 2014. doi : 10.1016/j.jterra.2014.04.002. en_US
dc.subject Autonomous vehicles en_US
dc.subject Vehicle safety en_US
dc.subject Vehicle modelling en_US
dc.subject Path planning en_US
dc.subject Off-road vehicles en_US
dc.title Longitudinal vehicle dynamics control for improved vehicle safety en_US
dc.type Postprint Article en_US


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